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ResearchFormerly WizWand

3D Object Detection on nuScenes v1.1 (val)

59.2NDSSparseBEV
42.76847.03451.355.566Aug 18, 2023
Updated 8mo ago

Evaluation results

MethodLinks
SparseBEVBackbone=ResNet101, Input Size=1408 x 512, Epochs=24, Perspective pretraining=true2023.0859.250.10.5620.2650.3210.2430.195
SOLOFusionBackbone=ResNet101, Input Size=1408 x 512, Epochs=90, CBGS=true2023.0858.248.30.5030.2640.3810.2460.207
SparseBEVBackbone=ResNet50, Input Size=704 x 256, Epochs=36, Perspective pretraining=true2023.0855.844.80.5810.2710.3730.2470.19
StreamPETRBackbone=ResNet50, Input Size=704 x 256, Epochs=60, Perspective pretraining=true2023.0855450.6130.2670.4130.2650.196
Sparse4DBackbone=ResNet101-DCN, Input Size=1600 x 900, Epochs=48, Perspective pretraining=true2023.085544.40.6030.2760.360.3090.178
SparseBEVBackbone=ResNet50, Input Size=704 x 256, Epochs=362023.0854.543.20.6060.2740.3870.2510.186
Sparse4Dv2Backbone=ResNet50, Input Size=704 x 256, Epochs=1002023.0853.943.90.5980.270.4750.2820.179
BEVDepthBackbone=ResNet101, Input Size=1408 x 512, Epochs=90, CBGS=true2023.0853.541.20.5650.2660.3580.3310.19
SOLOFusionBackbone=ResNet50, Input Size=704 x 256, Epochs=90, CBGS=true2023.0853.442.70.5670.2740.5110.2520.181
BEVPoolv2Backbone=ResNet50, Input Size=704 x 256, Epochs=90, CBGS=true2023.0852.640.60.5720.2750.4630.2750.188
BEVFormerBackbone=ResNet101-DCN, Input Size=1600 x 900, Epochs=24, Perspective pretraining=true2023.0851.741.60.6730.2740.3720.3940.198
BEVStereoBackbone=ResNet50, Input Size=704 x 256, Epochs=90, CBGS=true2023.085037.20.5980.270.4380.3670.19
PETRv2Backbone=ResNet50, Input Size=704 x 256, Epochs=602023.0845.634.90.70.2750.580.4370.187
DETR3DBackbone=ResNet101-DCN, Input Size=1600 x 900, Epochs=24, Perspective pretraining=true2023.0843.434.90.7160.2680.3790.8420.2